Please find attached a document discussing the use of TriangleDrive tasks on the Lynx mobile robot.

Triangle drive is a positioning method by which the Lynx maneuvers with increased accuracy relative to a physical triangle situated in the environment. This triangle is defined by its edge lengths and inclusive angle, giving the Lynx a specific feature in the environment to use for positioning. Such a triangle can be seen in the image above, where a conveyor-Lynx is positioning itself in front of a static conveyor. While a variety of use cases for this positioning method exist, all use the “TriangleDriveTo” or “TriangleDriveToAdvanced” robot tasks, which define the specifics for the movement.

As always feel free to contact Adept via the forum or directly with any questions or comments.Parker ConroyMobile Application Engineer